Research on Pose Measurement Method for Cantilever Roadheader
In response to the difficulty of improving the accuracy of cantilever roadheader pose measurement in coal mine roadway construction under complex geological conditions,this paper proposed a kind of roadheader pose detection algorithm based on laser projection and machine vision.This algorithm focused on overcoming the instability of pose measurement in high dust and strong vibration environments,and ensured accurate navigation and control of the roadheader.The measurement system integrated a laser emitting device with an industrial grade explosion-proof camera,and the camera captured a sequence of laser line images,then the heading angle of the roadheader was calculated through image processing technology to achieve real-time correction of the travel direction.Inclination angle sensors was used to measure the inclination angle of the camera,and the triangulation method was used to accurately measured the horizontal displacement of the roadheader.The images were randomly sampled during excavation,which was took as the design strategy to effectively suppress strong vibration interference;meanwhile,the high dust environment actually enhanced the brightness of the laser line,which could improve the measurement performance.A simulated tunnel was built to make to simulation test.The results show that theheading angle error of the technology is less than or equal 0.5° in horizontal displacement measurement.The robustness and effectiveness of the algorithm under real working conditions is verified by analyzing the mine data provided by Keda Automation Company.Compared with current technology,this algorithm not only maintains considerable detection accuracy,but also simplifies implementation steps,and enhances the safety and efficiency of mining operations.
万方数据
维普
